SYNTHESIS OF MANIPULATION ROBOT PROGRAM TRAJECTORIES WITH CONSTRAINTS IN THE FORM OF OBSTACLES


Abstract

The paper presents a method of synthesis of manipulation robot motion trajectory according to mobility degrees. The configuration of the manipulator parts and obstacles are approximated by semiinfinite spaces limited by planes. The fact of robot collision with obstacles is reduced to the problem of determining the compatibility of systems of linear inequalities. The authors developed an algorithm for solving the problem based on dynamic programming method.


Keywords

robot trajectory; the degree of mobility; the manipulator

Baybatshaev M.S., Beisembaev A.A.: Models and Algorithms for the Synthesis of Program Trajectories by Manipulation Robot Mobility Degrees. Proceedings of the International Scientific-Practical Conference KazNTU to Education, Science and Industry of the Republic of Kazakhstan, KazNTU Almaty, 1998, p. 278-280.

Jurevich E.I. (edit.): Dynamics of Robot Control, Nauka, Moscow 1984.

Kurosh A.G.: Course of Higher Algebra. Moscow: Nauka, 1975.

Rvachev V.L.: Theory of R-functions and Some of its Applications. Kiev: Naukova Dumka, 1982.

Zenkevich S.P., Yushchenko L.S.: Robot Control. Fundamentals of Robotic Manipulator Control. Moscow: Bauman MSTU Publishing House, 2000.

Download

Published : 2014-03-12


Baybatshaev, M., & Beysembaev, A. (2014). SYNTHESIS OF MANIPULATION ROBOT PROGRAM TRAJECTORIES WITH CONSTRAINTS IN THE FORM OF OBSTACLES . Informatyka, Automatyka, Pomiary W Gospodarce I Ochronie Środowiska, 4(1), 21-23. https://doi.org/10.5604/20830157.1093191

Muhit Baybatshaev 
K.I. Satpayev Kazakh National Technical University  Kazakhstan
Akambay Beysembaev  sla-taraz@mail.ru
K.I. Satpayev Kazakh National Technical University  Kazakhstan